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Distinguishing self, other, and autonomy from visual feedback: a combined correlation and acceleration transfer analysis

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dc.contributor.author Demirel, Berkay
dc.contributor.author Moulin-Frier, Clément
dc.contributor.author Arsiwalla, Xerxes D.
dc.contributor.author Verschure, Paul F. M. J.
dc.contributor.author Sánchez Fibla, Martí
dc.date.accessioned 2022-06-21T05:57:19Z
dc.date.available 2022-06-21T05:57:19Z
dc.date.issued 2021
dc.identifier.citation Demirel B, Moulin-Frier C, Arsiwalla XD, Verschure PFMJ, Sánchez-Fibla M. Distinguishing self, other, and autonomy from visual feedback: a combined correlation and acceleration transfer analysis. Front Hum Neurosci. 2021;15:560657. DOI: 10.3389/fnhum.2021.560657
dc.identifier.issn 1662-5161
dc.identifier.uri http://hdl.handle.net/10230/53541
dc.description.abstract In cognitive science, Theory of Mind (ToM) is the mental faculty of assessing intentions and beliefs of others and requires, in part, to distinguish incoming sensorimotor (SM) signals and, accordingly, attribute these to either the self-model, the model of the other, or one pertaining to the external world, including inanimate objects. To gain an understanding of this mechanism, we perform a computational analysis of SM interactions in a dual-arm robotic setup. Our main contribution is that, under the common fate principle, a correlation analysis of the velocities of visual pivots is shown to be sufficient to characterize "the self" (including proximo-distal arm-joint dependencies) and to assess motor to sensory influences, and "the other" by computing clusters in the correlation dependency graph. A correlational analysis, however, is not sufficient to assess the non-symmetric/directed dependencies required to infer autonomy, the ability of entities to move by themselves. We subsequently validate 3 measures that can potentially quantify a metric for autonomy: Granger causality (GC), transfer entropy (TE), as well as a novel “Acceleration Transfer” (AT) measure, which is an instantaneous measure that computes the estimated instantaneous transfer of acceleration between visual features, from which one can compute a directed SM graph. Subsequently, autonomy is characterized by the sink nodes in this directed graph. This study results show that although TE can capture the directional dependencies, a rectified subtraction operation denoted, in this study, as AT is both sufficient and computationally cheaper.
dc.description.sponsorship This work was supported by INSOCO-DPI2016-80116-P, socSMC-641321—H2020-FETPROACT-2014, and FI-AGAUR 2020 FI_B 00693. This research was partially funded by the French National Research Agency (https://anr.fr), project ECOCURL, Grant ANR-20-CE23-0006, as well as the Inria Exploratory action ORIGINS (https://www.inria.fr/en/origins).
dc.description.sponsorship This work was supported by INSOCO-DPI2016-80116-P, socSMC-641321—H2020-FETPROACT-2014, and FI-AGAUR 2020 FI_B 00693. This research was partially funded by the French National Research Agency (https://anr.fr), project ECOCURL, Grant ANR-20-CE23-0006, as well as the Inria Exploratory action ORIGINS (https://www.inria.fr/en/origins).
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher Frontiers
dc.relation.ispartof Frontiers in human neuroscience. 2021;15:560657
dc.rights © 2021 Demirel, Moulin-Frier, Arsiwalla, Verschure and Sánchez-Fibla. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
dc.rights.uri https://creativecommons.org/licenses/by/4.0/
dc.title Distinguishing self, other, and autonomy from visual feedback: a combined correlation and acceleration transfer analysis
dc.type info:eu-repo/semantics/article
dc.identifier.doi http://doi.org/10.3389/fnhum.2021.560657
dc.subject.keyword theory of mind
dc.subject.keyword cognitive development
dc.subject.keyword autonomy
dc.subject.keyword attention
dc.subject.keyword agency
dc.subject.keyword sensorimotor learning
dc.subject.keyword developmental psychology
dc.subject.keyword computational cognition
dc.relation.projectID info:eu-repo/grantAgreement/EC/H2020/341196641321
dc.relation.projectID info:eu-repo/grantAgreement/ES/1PE/DPI2016-80116-P
dc.rights.accessRights info:eu-repo/semantics/openAccess
dc.type.version info:eu-repo/semantics/publishedVersion

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